MIET2076 L7 Balance Lleung

Mechanics of Machines
MIET2076 Mechanics of Machines 2

L7 - Balancing of Rotating Machinery
and Vibration Analysis
Lecturer: Dr Ka-kit LEUNG

MIET2076
Learning Outcome (Week
10/11/12)
Upon completion of this lesson, you will be able to
p Statically/dynamically balance rotating machines

analytically and graphically
p derive analytical expressions for the shaking forces and

moments and determine the unbalance in engines
p use vibration analysis techniques to diagnose typical

Edition 2
MIET2076
problems and failures in machines P.570-591

(PDF P586-607)
Reading material: Chapter 12, Norton pp.609-728 2
Supplementary
Reading material: Chapter 10,

Mabie “ Fourth Ed Mechanisms and Dynamics of Machinery”

pp.503-535
MIET2076
3
The Balancing of Rotating &
Reciprocating Machinery
p To determine unbalance in rotating and reciprocating
machinery by analytical & graphical methods.
p To provide a basis for particular strategies & approaches

to balancing the rotating masses (such as gears, pulleys,
wheels with an offset centre of mass) and reciprocating
masses (such as pistons in internal combustion engines).
MIET2076
4
Balancing of Rotating Mass
In machine, rotating generated shaking forces & moments

by inertial forces.
Because of rotation, vibration caused unpreventablly at an
angular frequency. The unbalanced forces are due to the
accelerations of mass. The degree to which this forced
vibration will be damaging depends upon the frequency of
the forced vibration and the natural frequency of the elastic
MIET2076
machine elements through which force is transmitted such

as the shaft or supports 5
For example, the rotating mass M without counterbalance

induces a shaking force equal to the inertia force F that is

transmitted to the bearings & the supports
MIET2076
6
In the lab experiment, the presence of an unbalanced mass

in a rotating disk due to manufacturing error causes a

motion is called vibration. When an element of mass is a
distance ‘r’ from the axis of rotation, shaking force, F=mw2r
will tend to pull the mass outward. If conditions are near
resonance, amplitudes of vibration may become large
enough to cause failure of shafts, bearings, supports and so
MIET2076
on. In order to save the rotating device from failure, it must

be balanced. 7
The shaking force & vibrations minimized by balancing the

inertia forces so that respective shaking forces are zero &

no force is transmitted to the machine supports
A rotating machine is balanced (statically or dynamically).
Complete balancing requires dynamic balancing. The

amount and location of any imbalance can be measured
quite accurately and compensated for by adding or
MIET2076
removing material in the correct locations.

8
Static Balance
Static balance (single-plane balance)

Static balance means in fact that the masses which are

generating the inertia forces are in, or nearly in, the same
plane.
The sum of the forces acting on the moving system must be
zero.
Static balance is a balance of forces due to the action of
MIET2076
gravity.
åF = 0
9
Static Balancing a link in pure
rotation
mass m1 & m2 concentrated at the
local CGs
Cause the moving global mass
center-unbalanced
MIET2076
10
Unbalanced link
rotation
Model the link è mass m1 & m2 are supported on mass-less
rods è a third "balance mass" mb is added to the balance

the system
MIET2076
Unbalanced link Dynamic model

11
rotation
Constant angular velocity w
the inertia forces are away from the

center (Red Arrows).
å F = 0 Þ m1R1w 2 + m2 R2w 2 + mb Rbw 2 = 0
mb Rb = -(m1 R1 + m2 R2 )
mb Rbx = -(m1 R1x + m2 R2 x )
(
mb Rby = - m1 R1 y + m2 R2 y )
q b = arctan
mb Rby
= arctan
(m R
1 1y + m2 R2 y )
(m1R1x + m2 R2 x )
MIET2076
mb Rbx
Dynamic model
Rb = (Rbx )2 + (Rby )2
mb Rb = (mb Rbx )2 + (mb Rby )2 = (m1R1x + m2 R2 x )2 + (m1R1 y + m2 R2 y )2 12
MIET2076 Mechanics of Machines
Þ
Static Balance
13
Limitation of static balance
Limitation: applied only in the case that masses are acting

on the same radial plane.

Any number of masses rotating in a common radial plane
may be balanced with a single mass.
If different radial planes, the resultant force in the rotating
system causes a bending of the shaft and exerts forces on
the bearings supporting the shaft.
MIET2076
But when all forces are in different radial planes, in axial

plane, then we have to carry out dynamic balancing
14
Dynamic Balance
Dynamic balance (two-plane balance)

Two criteria
p The sum of the forces must be zero (static balance)
p The sum of the moments must also be zero
åF = 0
åM = 0
MIET2076
Dynamic balance is balance due to the action of inertia

forces
15
Dynamic Balance
Any rotating object or assembly which is relatively long in

the axial direction compared to the radial direction

requires dynamic balancing for complete balance.
It is possible for an object to be statically balanced but not

be dynamically balanced.
A 3 dimensional coordinate system including axis of rotation

(Z direction) should be considered.
MIET2076
16
Dynamic Balance
Despite forces statically balanced. Their inertia forces form

a couple (rocking couple) which rotates with the masses
about the shaft.

MIET2076
m1 = m2
R1 = R2 17
Dynamic Balance
The system of three lumped

masses
Two masses A & B are added

in two correction planes
åF = 0
- m1 R1w 2 - m2 R2w 2 - m3 R3w 2 - m A R Aw 2 - mB RBw 2 = 0
m A R A + mB RB = - m1 R1 - m2 R2 - m3 R3
MIET2076
18
Dynamic Balance
Moment at O on A plane
å ( ) ( ) ( ) ( )
M = 0 Þ mB RBw 2 lB = - m1R1w 2 l1 - m2 R2w 2 l2 - m3 R3w 2 l3

MIET2076
19
Dynamic Balance
Moment in XZ plane (Yaxis) (m B RB w 2 )l B = -(m1 R1w 2 )l1 - (m2 R2w 2 )l2 - (m3 R3w 2 )l3
Moment in YZ plane(Xaxis) - (m1 R1x )l1 - (m2 R2 x )l2 - (m3 R3 x )l3
mB RBx =
lB
mB RBy =
( ) ( ) (
- m1 R1 y l1 - m2 R2 y l2 - m3 R3 y l3 )
lB
MIET2076
20
Dynamic Balance
Dynamic balance is done by adding or removing the right

amounts of mass at the proper angular locations in two

correction planes separated by some distance along the
shaft. This will create the necessary counter forces to
statically balance the system and also provide a counter
couple to cancel the unbalanced moment.
MIET2076
21
Balance of rotors
Consider a rotor system

with of three masses in a
common transverse
plane about axis 0-0
For constant w, the

inertia force is
F = Mrw 2
For balance, the sum of

F is zero
MIET2076
å F = å (Mrw ) = å
æW 2ö w2
2
çç
è g
rw ÷÷ =
ø g
å (Wr ) = 0 Þ å (Wr ) = 0
22
The importance of angular
velocity
For static balance, it doesn’t matter how fast the system is
rotating, only that it is rotating. The angular velocity w will

determine the magnitudes of these forces, but we are going
to force their sum to be zero.
å F = å (Mrw ) = å
æW 2ö w2
2
çç
è g
rw ÷÷ =
ø g
å (Wr ) = 0 Þ å (Wr ) = 0
The degree to which a rotor is to be dynamically balanced
depends upon the speed at which the rotor is to operate (the
MIET2076
unbalance force increases as the square of the speed).

23
Balance of Turbine Blades
Analytical methodè æ åWr ö

R= (åWr ) + (åWr )
2 2
,q R = arctanç
y ÷
ç åWr ÷
x y
è x ø
MIET2076
24
Balance: Graphical Method
Graphical method è R is the vector sum of Wr, and in fact

gives the necessary parameters for the balancing (static)
å (Wr ) = 0 è any arbitrary value of We or

re may be selected
MIET2076
25
Dynamic Balance: Graphical
Method
Consider of the system of 3 lumped masses in different
radial/tranverse planes
MIET2076
26
Method
Consider of the system of 3 lumped masses in different
radial plane
å F = 0 Þ å (Wr ) = 0
MIET2076
27
Method
Draw Force diagram
å F = 0 Þ å (Wr ) = 0
F3
F2
MIET2076
F1 Fb
Fa 28
Method
Draw vector diagram
å M = 0 Þ å (Wra) = 0
Take moment at plane A

Take moment at plane B
MIET2076
29
Method
Although it would appear that a single balancing mass would
satisfy the sum of force is equal to 0. But, a consideration of

moment balance shows that a minimum of two balancing
masses is required. For that purpose we will arbitrarily choose
two correction planes: A-A and B-B.
MIET2076
30
Exercise in class I
A rigid rotor consisting of a system of 3 masses rotating in a common transverse

plane about the axis O-O. A fourth mass is to be added to the system for
balancing. Find the balancing weight W3 and distance from O re, graphically and
analytically
W1 = 3lb,W2 = 5lb,W3 = 4lb
r1 = 8in, r2 = 12in, r3 = 10in
q1 = 134 ! ,q 2 = 58! ,q 3 = 15!
MIET2076
31
Exercise in class I
Solutions:
For constant w, the inertia force for any given mass M is F=Mr w2 with
direction & sense radially outward. For balance, the vector sum of the
inertia forces is zero. W1 = 3lb,W2 = 5lb,W3 = 4lb
r1 = 8in, r2 = 12in, r3 = 10in
q1 = 134 ! ,q 2 = 58! ,q 3 = 15!
MIET2076
32
Exercise in class I
Construct the table

MIET2076
33
Exercise in class I
Find We & re (Graphically)

We = 95lb × in
re = 9.5in
MIET2076
34
Exercise in class I
Find We & re (Analytically)

R= (åWr ) + (åWr )
x
2
y
2
= 53.77 2 + 78.492 = 95.14lb × in
é åWr ù y
qR -1
= tan ê ú = 55.6 !
êë åWr úû x
MIET2076
35
Exercise in class II
Find the balancing weights Wa and Wb, distance from O ra & rb, graphically
q
120
59
324
a
b
MIET2076
36
Exercise in class II
Solution: Wa & Wb, ra & rb, graphically

q
120
59
324
a 90
b 220
MIET2076
37
Example: Dynamic of rotor
The rotor with the steel gears shown below was dynamically
balanced in a balancing machine by the addition of clay
masses shown on the periphery of the gears. However, the

balancing is to be achieved by drilling holes in the webs of the
gears at the diameters shown. Determine the size and
location of the holes for dynamic balancing. Convert all your
working into SI units.
MIET2076
38
Example II: Dynamic of rotor
Determine the weights WA & WB that put the rotor in dynamic

balance for a rotor speed of 500 rpm. Determine also the
angular positions of the balancing weights.

MIET2076
39
MIET2076
40
å F = 0 Þ å (Wr ) = 0
å M = 0 Þ å (Wra) = 0
MIET2076
41
é1.0125 ù
q B = arctanê ú
ë 2.7 û
= 20.56! + 180 ! = 200.56!
MIET2076
42
Balancing of Reciprocating
Masses
Understand the dynamic
forces generated in internal
combustion engine during

combustion cycle.
Then determine the

unbalance of reciprocating
masses in internal
combustion engine
MIET2076
43
Structure of the IC engine
Piston is a mechanical
device that slides up
and down inside the

cylinder.
A piston stroke is
defined as its travel from
TDC to BDC or the
reverse.
This engine requires two

MIET2076
valves per cylinder, one

for intake and one for 44
exhaust.
Combustion Cycle
Combustion cycle has 4 cycles: 1) intake stroke. 2)

Compression stroke. 3)Expansion stroke. 4)Exhaust stroke
MIET2076
45
Combustion Cycle

1) Intake stroke
The intake stroke starts with the piston at TDC. A
mixture of fuel and air is drawn into the cylinder from
the induction system (the fuel injector) as the piston
descends to BDC, increasing the volume of the
cylinder and creating a slight negative pressure
MIET2076
46
Combustion Cycle

2) Compression stroke
All valves are closed and the gas is compressed as
the piston travels from BDC to TDC. Slightly before
TDC, a spark is ignited to explode the compressed
gas.
MIET2076
47
Combustion Cycle

3) Expansion stroke (or power stroke)

The pressure from the explosion builds very quickly
and pushes the piston down from TDC to BDC.
MIET2076
48
Combustion Cycle

4) Exhaust stroke
The exhaust valve is opened and the piston travels
from BDC to TDC pushing the spent gases out of the
cylinder into the exhaust manifold. The cycle is then
ready to repeat once again with another intake stroke
as start.
MIET2076
49
Combustion Cycle
Here is the demonstration of Combustion cycle

MIET2076
50
Combustion Cycle
4 cylinders in series
MIET2076
51
Combustion Cycle
The Internal combustion engine is converted to equivalent

single-cylinder slider-crank mechanism.
FP
q2
MIET2076
w2
a2 52
Slider-crank kinematics
Analysis of the standard slider-crank linkage, used in the

majority of internal combustion engines.

MIET2076
53
Let the crank radius be r and the rod length be I. The angle of the crank is q, and
the angle that the conrod makes with the X axis is f. For any constant crank
angular velocity w, the crank angle q = wt. The instantaneous piston position is x.
Two right triangles rqs and lqu are constructed. Then from geometry:
MIET2076
54
From the geometry:

MIET2076
æ R ö
F = MAB = MRw 2 ç cos q + cos 2q ÷
è L ø
55
From the geometry:

MIET2076
56
Force Dynamics
Free Body Diagram:

F23 = - F32
aG3 Gas
pressure
F34 = - F43 Fg
aG2
aG4
F21 = - F12
MIET2076
F14 x = ± µF14 y
F41 = - F14
57
Multicylinders Engine
The six – cylinder engine by combining several slider cranks

together
MIET2076
58
Multicylinders Engine
Shaking force is zero

æ R ö
è L ø
MIET2076
å
59
F =0
Shaking Forces & Shaking
Torque
The sum of all the forces acting on the ground plane is called
the shaking force (FS).

FS = åF i1
The reaction torque felt by the ground plane is also called the
shaking torque (TS). In our example this is simply the
negative of the source torque T12 which is delivered from the
ground to the driving link: TS
MIET2076
60
Force Dynamics
In automotive installations, the engine block is supported on

flexible mountings in order that a minimum of the unbalanced
resultant force of the engine is transmitted to the engine

supports.
F41 = reactive force of the piston on the
cylinder wall
F21 = force of the crankshaft on the main
bearings fixed to the engine block
P = gas pressure force acting on the head
of the block
R1, R2 = reactive forces of the engine
supports
MIET2076
61
Force Dynamics
F41, F21, P are known from the analysis of the slider-crank

mechanism. R1, R2 are the unknowns to be determined.
F41 = reactive force of the piston on the

cylinder wall
F21 = force of the crankshaft on the main
bearings fixed to the engine block
P = gas pressure force acting on the head
of the block
R1, R2 = reactive forces of the engine
supports
MIET2076
P = F = F04 + FB 3
62
Force Dynamics
F41, F21, F14, F12 are the internal

forces.
FCW and FA3 are equal and
opposite.
Gas forces P are considered
equal and opposite, so:
R1 and R2 are effected by:

1. inertial forces F41, F21 F04 FB3
2. shaft torque Ts
MIET2076
FS = F = F04 + FB 3
63
Force Dynamics
The shaking force S = F= R, the

FB3
resultant of inertial forces
The reciprocating masses at the

unit pin centre cause verticalF21
F04
vibration or vertical shaking of the
engine (¯).
No resultant horizontal force acts
on the engine so there is no
vibration excitation in that direction. R = F04 + FB 3
MIET2076
R = R1 + R2
64
Force Dynamics
65
F21
Force Dynamics
66
Determination of unbalance
Determination of the unbalance or the shaking force of a

multicylinder engine (Analytical)
The inertia force F of any given cylinder at q is

æ R ö
è L ø
Force is separated into primary harmonic FP & secondary
harmonic FS
F = FP + FS
Thus, the total inertia force of a multicylinder engine is the

MIET2076
resulting force or shaking force S,

S= åF = åF + åF
P S 67
In some engines, the primary forces FP may be balanced

although the secondary forces may not. The reverse may

also be the case. The equation of unbalance of primary
forces is developed q = q1 + f
åF P = å MRw 2
cos q = MRw 2 å cos(q + f )
= MRw 2 å [cos q
1 cos f - sin q1 sin f ]
MIET2076
68
Since cosq1 & sin q1 are constant,

[ å cosf - sin q åsin f ]
åF P = MRw 2 cosq1 1
The equation of unbalance of secondary forces is similar

å FS = M
R2 2
L
[
w cos 2q1 å cos 2f - sin 2q å sin 2f ]
1
The equation of unbalance is functions of q1 only as f is

constant
MIET2076
69
It may also be seen that for balance, or zero shaking force,

the following summations must all be zero:

å cos f = 0
å sin f = 0
å cos 2f = 0
å sin 2f = 0
MIET2076
70
The line of action of S be determined from the principle of

moments in terms of a primary moment CP & secondary

moment CS. Let a is the distance from the reference plane to
the line of action of the inertia force of any given cylinder
CP = åFPa =MRw 2 å a cosq = MRw [cosq å a cosf - sin q å a sin f ]
2
1 1
CS =
MR 2w 2
L
[
cos 2q1 å a cos 2f - sin 2q å a sin 2f ]
1
C = CP + CS C
MIET2076
aR =
S
71
Example
Determine the unbalance S of the reciprocating masses of

the conventional 4 cylinder engine in Fig., in which the
cranks are at 180 deg. Determine the unbalance of the axial

shaking couple
MIET2076
72
Example
Solution: The fixed angles f are given. Then:

Primary forces are balanced but

Secondary forces are not
MIET2076
73
Example
In moments,
Primary moment are balanced but

Secondary moments are not
MIET2076
74
Example
The line of action of the shaking force S

is determined as follow
=
C
=
( )
24 MR 2w 2 / L cos 2q1
=6
aR
S (
4 MR w / L cos 2q1
2 2
)
MIET2076
75
Vibration analysis techniques
Frequency spectrum - the plot of vibration amplitude against frequency -

vibration signature of the machine.
The frequency spectrum gives, in many cases, detailed information about

the problem source which cannot be obtained from the time signal.
The frequency spectrum is typically determined today by using a digital
frequency analyser that is based on the Fast Fourier Transformation of
the obtained vibration signal.
MIET2076
76
Two different situations in

monitoring:
a) monitoring of a fan: the
most likely fault to occur is
unbalance, which will give an
increase in the vibration level
at the speed of rotation. This
MIET2076
will normally also be the

highest level in the spectrum. 77
b) monitoring of a gearbox: damaged

gears will show up as an increase in

the vibration level at the tooth meshing
frequencies (shaft rpm x number of
teeth) and their harmonics. The levels
at these frequencies are normally
much lower that the highest level in
the frequency spectrum, so it is
necessary to use full spectrum
MIET2076
comparison to reveal a developing

fault.
78

MIET2076 L7 Balance Lleung

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MIET2076 L7 Balance Lleung

Uploaded by

Copyright:

Available Formats

Mechanics of Machines

MIET2076 Mechanics of Machines 2

Lecturer: Dr Ka-kit LEUNG

p Statically/dynamically balance rotating machines

p derive analytical expressions for the shaking forces and

p use vibration analysis techniques to diagnose typical

problems and failures in machines P.570-591

Reading material: Chapter 10,

Mabie “ Fourth Ed Mechanisms and Dynamics of Machinery”

machinery by analytical & graphical methods.

p To provide a basis for particular strategies & approaches

In machine, rotating generated shaking forces & moments

machine elements through which force is transmitted such

For example, the rotating mass M without counterbalance

induces a shaking force equal to the inertia force F that is

In the lab experiment, the presence of an unbalanced mass

in a rotating disk due to manufacturing error causes a

on. In order to save the rotating device from failure, it must

The shaking force & vibrations minimized by balancing the

inertia forces so that respective shaking forces are zero &

A rotating machine is balanced (statically or dynamically).

Complete balancing requires dynamic balancing. The

removing material in the correct locations.

Static balance (single-plane balance)

Static balance means in fact that the masses which are

rods è a third "balance mass" mb is added to the balance

Unbalanced link Dynamic model

the inertia forces are away from the

Limitation: applied only in the case that masses are acting

on the same radial plane.

But when all forces are in different radial planes, in axial

Dynamic balance (two-plane balance)

p The sum of the forces must be zero (static balance)

p The sum of the moments must also be zero

Dynamic balance is balance due to the action of inertia

Any rotating object or assembly which is relatively long in

the axial direction compared to the radial direction

It is possible for an object to be statically balanced but not

A 3 dimensional coordinate system including axis of rotation

Despite forces statically balanced. Their inertia forces form

about the shaft.

The system of three lumped

Two masses A & B are added

M = 0 Þ mB RBw 2 lB = - m1R1w 2 l1 - m2 R2w 2 l2 - m3 R3w 2 l3

Dynamic balance is done by adding or removing the right

amounts of mass at the proper angular locations in two

Consider a rotor system

For constant w, the

For balance, the sum of

rotating, only that it is rotating. The angular velocity w will

unbalance force increases as the square of the speed).

Analytical methodè æ åWr ö

Graphical method è R is the vector sum of Wr, and in fact

å (Wr ) = 0 è any arbitrary value of We or

Take moment at plane A

satisfy the sum of force is equal to 0. But, a consideration of

A rigid rotor consisting of a system of 3 masses rotating in a common transverse

Construct the table

Find We & re (Graphically)

Find We & re (Analytically)

Solution: Wa & Wb, ra & rb, graphically

masses shown on the periphery of the gears. However, the

Determine the weights WA & WB that put the rotor in dynamic

angular positions of the balancing weights.